Carbon fiber prosthetic foot with hollow cross sections

ABSTRACT

A hollow tubulous composite structure and method for prosthetic limbs is described.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation from U.S. patent application Ser. No.12,557,900, filed 11 Sep. 2009, which claimed priority fromPCT/US2008/003394, International Filing Date 13 Mar. 2008, which claimedpriority from U.S. Provisional Patent Application Ser. No. 60/906,687,filed 13 Mar. 2007, both of which are considered to be part of thedisclosure of the accompanying application and are hereby incorporatedby reference.

BACKGROUND OF INVENTION Function of Prosthetic Feet

Minimizing the weight of the prosthetic limb is very important for theamputee. The comfort and functionality of the prosthetic limb are highlydependent on its weight. This includes reducing the weight of the socketwhich attaches to the residual limb, and to the various connectors andstruts comprising the total prosthetic limb. The most important areaswhere weight should be reduced are those on the distal portion of theprosthetic limb, i.e. the foot itself.

It is also very important that prosthetic feet do not fail in service toprevent injury and inconvenience to the amputee. Also, the prosthetist,who has a strong influence on a patient's foot choice, incurs cost toreplace the failed foot. Prosthetic feet utilizing mechanical elements,i.e. pivot joints etc., have a markedly higher rate of in servicefailure than feet without such complicating design features. This hasbeen an additional advantage of the carbon fiber prosthetic feetcurrently available.

Nature of Composite Materials

Composite materials, such as carbon-fiber/epoxy, provide a highermaterial stiffness and strength for a given weight than traditionalmaterials. Consequently, these materials have found wide use inprosthetic feet.

High performance composite materials combine two or more materials withdifferent mechanical characteristics. Taken separately, theseconstituent materials may not have the necessary properties for highstrength structural applications. However, in combination, the resultantcomposite material can be a high performance structural material.

Carbon-fiber/epoxy illustrates this phenomenon. Epoxy resin is arelatively weak material with a relatively low stiffness. It has atensile strength of roughly 10 Ksi. and a tensile modulus of roughly 750Ksi. Its stress strain behavior is also nonlinear, showing a markeddecrease in shear and tensile stiffness at higher elongations. Forcomparison, high strength steel has a tensile strength of approximately100 Ksi. and a modulus of 30 Msi.

In contrast, carbon fiber has a very high tensile strength and stiffnessin the fiber direction. It typically has a tensile strength of roughly700 Ksi. and a very linear tensile modulus of roughly 33 Msi. That makesthe fiber about 70 times stronger, and 50 times stiffer than the epoxymatrix material. However, the carbon fiber alone is not particularlyuseful as a structural material. It consists of a multitude ofessentially continuous, very small fibers with virtually no compressionstrength, no shear strength, nor any mechanical properties transverse tothe fibers.

Carbon-fiber/epoxy combines the best aspects of the constituentmaterials. The epoxy resin serves to transfer shear between fibers,stabilizes the fibers to support compressive loads, and provide somestrength in the direction perpendicular to the fibers. An exemplaryresultant material in its unidirectional form has a modulus of about 21Msi. and strength of about 300 Ksi. in the fiber direction, and adensity roughly one fifth that of steel. Composites allow themanufacture of prosthetic feet which are much lighter weight, and havehigher energy storage capacities than what can be obtained usingtraditional metal structures alone.

Limitations of Composite Materials in Transverse Direction

Just as the advantages of fiber reinforced plastic materials areutilized when designing new prosthetic feet, the material's limitationsmust also be taken into consideration. These are material limitationsthat would not impact the design of traditional metal structures forexample

Composite materials' primary limitation is its lack of material strengthin directions that fibers are not oriented with. For example, forcarbon-fiber/epoxy, in spite of the very high strengths in the fiberdirection, its strength transverse to the fibers is only about 10 Ksi.,basically the same as the unreinforced epoxy. A secondary limitationrelates to the relative difficulty of fabricating complex shapes.Reference is now made to FIG. 17. which is a schematic of a laminatewith partially cut away 174 to illustrate the different plies of thelaminate. Arrows 171 and 172 indicate the in-plane directions. Arrow 170indicates the out-of-plane direction. The present invention wasdeveloped to address both of these problems, which to date have not beenaddressed by composite prosthetic feet.

The reinforcing fibers provide the vast majority of load carryingcapability in the composite. Consequently, composite structures arerelatively weak and flexible when loaded in directions without fibersoriented in those directions. High performance composite structures needto have fibers aligned in every highly loaded direction to produce astructure with optimal efficiency.

Planar Nature of Composite Materials

Another characteristic of high performance composite structures is thatthey are usually planar in nature. One reason for this is the form ofthe raw material.

Perhaps the most common form of the raw material is unidirectional“prepreg”. In this form, a semisolid epoxy resin is preimpregnated intoa thin sheet of fibers all aligned in a single direction. A cut awayview of a typical laminate 173 is shown FIG. 17. The individual pliesarranged in different orientations are denoted by 174, 175, and 176.Using this type of resin, a partially cured tacky semisolid material atroom temperature, produces a sheet of handlable coherent material.

Another very common form of the raw material can be produced by firstweaving fiber bundles into a flat cloth prior to being preimpregnated.Therefore the most common forms of the raw material are supplied asessentially very thin planar materials. These sheets or layers ofmaterial are laid upon each other at distinct orientations depending onthe anticipated loads in those directions. These directions arerestricted to being in the plane of the laminate, 171 and 172 in FIG.17. This “layup” then forms a laminate with relatively high structuralperformance in-the-plane of the laminate. This belies the importance ofthe terms, “in-plane” 171, 172 or “out-of-plane” 170, commonly used inthe composites industry.

The simplest composite structures to fabricate are flat or curved inonly one direction. It is much simpler to assemble the planar rawmaterial in shapes with curvature in only one direction, or with only aslight curvature in the opposite direction.

It is far more difficult to manufacture composite laminates/componentshaving complex geometric shapes. That includes laminates which have ahigh degree of curvature in two orthogonal directions, i.e. compoundcurvature. Complex shaped composites structures are therefore lesscommon than structures with laminates curved in primarily in onedirection.

However, the structures containing laminates with a high degree ofcompound curvatures, i.e. more complex geometric shapes, have thepotential to be far stronger and more efficient than the simplergeometries. These structures can be designed to allow the fibers to bealigned in all the load directions, rather than relying on therelatively week epoxy resin to carry the load.

Current Leaf Spring Type Prosthetic Feet

Referring now to FIGS. 15, 19, 20, and 25-31; in the past, dynamicresponse feet have primarily used a Composite Leaf Spring constructionto store and release energy during gait. Some of the most widelyrecognized commercial embodiments of dynamic response feet, shown inFIG. 29-31, include Flexfoot by Ossur, Springlite by Otto Bock, Seattlefeet by Seattle Systems and Carbon Copy by Ohio Willow Wood. All ofthese feet have been successful commercially and widely distributed.

These leaf spring type prosthetic foot designs are archetypical of thecurrent state of the art of technological development in prostheticfeet. The foot 150 shown in FIG. 15 illustrates the most common featuresof these type of feet. FIGS. 25-28 illustrate the wide range of priorart prosthetic foot designs using this design approach. As seen in FIGS.29-31, many of these designs have been reduced to commercial products.They rely primarily on bending or flexural stresses to store energy.Nearly all these have an initial curvature in only the fore-aftdirections, being essentially straight in the lateral direction. Energyis stored and released primarily through flexure of the leaf spring likecomponents and the design is two dimensional in nature.

In general, these Composite Leaf Spring foot designs require thattransverse shear loads in the foot be carried by the epoxy matrix in“out-of-plane” shear. In fact the transverse shear strength of thelaminate will commonly be the limiting strength factor affecting thefoot design. For this reason, manufacturers of the current leaf springtype feet will typically select a prepreg carbon fiber material with thehighest transverse shear strength available (measured as short beamshear strength).

Typical Structural Stresses and Strains in Prosthetic Feet

In general there are four critical types of internal loads in compositeprosthetic foot structures, including: bending loads, transverse shearloads, interlaminar tensile loads, and torsional loads.

Bending loads are quite common in many structures. They are easy tounderstand, because it is possible to have a structure in pure bending,having no other internal loading. Bending loads produce bending stressesin the structure. These are axial stresses that vary across a crosssection of the structure.

In contrast transverse shear loads are more difficult to conceptualize.Internal transverse shear load always give to internal bending loads.The two types of internal loading are interdependent. The form of thisrelationship in a simple structure is defined by the engineeringequation V=dM/dx, where M is the moment and V is transverse shear.Specifically, the transverse shear in a structural member is equal tothe rate of change of the moment down the length of the member. Almostall structural loadings in the real world include transverse shear.Transverse loads produce shear stresses, in addition to creatinginternal bending moments.

The design limitations inherent in Composite Leaf Spring feet make themvery susceptible to interlaminar tensile stresses which can easilyexceed the strength of the relatively weak epoxy matrix material. Thesestresses would typically produce delaminations in curved laminate areas.These stresses are produced when an initially curved section in the footis loaded so as to open or flatten or flatten the curve. Arrow 191 inFIG. 19 indicates the location of these tensile stresses during the heelstrike portion of the gait which can cause delamination. Arrow 201 inFIG. 20 illustrates how this tensile stress switches to a compressivestress during the toe off portion of the gait cycle. This type ofdelamination failure in laminated composites does not occur in metalstructures.

Torsion is twisting force, a bending force actually, but appliedtransverse to the primary axis of the structure. Torsional loading,denoted as T, produces a shear stress. A torsional shear stress is ashear stress that varies across the cross section of the structure in afashion similar to the way a bending axial stress varies across a crosssection. The tubulous composite member 181 shown in FIG. 18 illustrateshow prosthetic feet of the present invention can efficiently storeenergy in torsional stresses through in-plane loading, as opposed to theflat laminate member 173 shown in FIG. 17 illustrating that current LeafSpring type prosthetic feet which cannot store significant energies astorsional stresses because they produce out-of-plane stresses.

Structural Mechanics of Spring Design

The energy storage or dynamic response prosthetic feet owe a large partof their performance to their ability to store energy during one portionof the gait and release it during a subsequent portion of the gaitcycle. In essence these prosthetic feet act like springs. The weight ofthese springs is dependent on the structural efficiency of their designand materials used.

The structural efficiency and mechanical characteristics of springs is awell understood part of engineering mechanics. In particular there areseveral rules of thumb that experienced spring design engineers knowintuitively. One of these rules is that stressing the spring materialmore evenly or uniformly increases efficiency, i.e. remove the materialwhich is stressed less and is therefore less efficient. Increasing thewire length (length of active spring material) of a spring can be usedto reduce stresses, increase maximum deflection, increase energy storagecapacity. Obtaining a more compliant spring without failing requires alonger wire length. The only way to get a longer wire length into theconstrained space envelope of a prosthetic foot is to coil it.

Traditional Autoclave Manufacturing Technology

An autoclave manufacturing process is utilized on most current compositeconstruction dynamic response prosthetic feet. This process uses asingle sided tool to produce components which are generally planar innature. The shapes are usually curved in only one primary direction. Theautoclave process is expensive and slow and is unsuited for themanufacture of hollow shapes with a complex geometry.

The material near the mid-plane of this planar structure are relativelyinefficient, contributing weight but not capable of storing significantflexural energy. Most dynamic response prosthetic feet today are ofrelatively simple construction, being essentially planar in direction.Such feet are generally store energy almost exclusively in flexure.Delamination failures occasionally occur in current dynamic responseprosthetic foot designs when the structure is loaded in a way to incurinterlaminar tensile stresses or when interlaminar shear stresses exceedthe strength of the relatively weak matrix material, usually epoxyresin, such as when a curved section in the foot is loaded so as to openor flatten or flatten the curve.

Delamination occurs because there are no fibers oriented in thedirection of the tensile or shear load. Current autoclave constructionprocesses are not conducive to the construction of structures which canplace fibers in the direction where these tensile or shear delaminationtype loads are transmitted.

SUMMARY OF INVENTION Tubulous Composite Prosthetic Feet

The present invention relates to prosthetic feet and specifically toprosthetic feet containing composite structural elements that aretubulous or tubular in nature. These tubulous composite structuralelements generally contain closed-cross-sections formed aroundlongitudinally hollow or elongated hollow cavities. The length of thesetubulous elements, as measured along its primary longitudinal path, ismuch longer than its mean diameter. These tubulous elements might alsobe described as having a geometry or other properties similar to a hose,pipe, duct, conduit, channel, or artery.

In order to provide a dynamic response foot prostheses, the presentinvention comprises a mounting element such as an ankle plate adaptedfor attachment to a lower leg pylori and a tubulous composite structuralelement or elements which serve to store and release energy at differentpoints of the gait cycle. The tubing or tubulous shape may, for example,form a helical spring whose major axis could be oriented in positions.

Hollow Molding Technology

The tubulous composite structural elements of the present invention aremore difficult to fabricate, more sophisticated, and more highlyengineered then typical autoclave cured leaf spring type feet. Thestructural elements are tubulous in nature containingclosed-cross-sections formed around elongated hollow cavities. It is amore refined and modern product, made with a more advanced and modernmanufacturing process.

The preferred manufacturing technology to create the shaped hollowcomposite tubes utilizes matched female molds with an internal cavityforming the outer shape of the product. A typical process might involveplacing a resin impregnated fiber material in the tubular cavity orwrapped about an internal pressure bladder which is placed into thecavity. Several examples of this manufacturing technology are disclosedas used in various industries in present U.S. Pat. Nos. 5,624,519;6,340,509; 6,270,104; 6,143,236; 6,361,840; 5,692,970; 5,985,197;6,248,024; 5,505,492; 5,534,203; and 6,319,346. The advanced productdesigns and manufacturing processes described in these patents is nowcommonly used in a few product areas, including bicycles and bicyclecomponents, and sports racquets and poles of various types. However,these advanced processes have not been previously used in the prostheticfoot industry.

There are several reasons why the manufacturing process is moredifficult and more highly engineered. In autoclave manufacture the exactwidth and length of material placed on a mold prior to cure are notparticularly critical. In contrast, the comparative dimension called thewidth of the material in the complex shaped tubulous structures of thepresent invention is quite critical because it has to be sized toexactly fill and mate with the entire outer mold line surface, theinternal cavity, of the mold. The methods of forming the preforms placedinto the molds are also far more difficult. The forming process must notcompress the laminate in the plane which tends to form waves.

Advantages of the Invention

Accordingly, by practice of the invention an improved prosthetic foot ofhollow composite tubing can be produced at reasonable cost. Theprosthetic foot has high strength, great reliability, high level ofcompliance and terrain conformance. In addition, a prosthetic foot ofhollow composite tubing can be produced in a fashion that allows a widerange of geometries to be utilized effectively in foot structure, whileproviding a relatively light-weight foot capable of supporting andstoring high torsional and radial tensile loads with fibers oriented ina way to avoid large interlaminar tensile or shear stresses.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates a double coil design inside a cutaway view of acosmesis.

FIG. 2 illustrates another view of the double coil design.

FIG. 3 illustrates a foot design with four separate lightly curvedtubulous limbs inside a cutaway view of a cosmesis.

FIG. 4 illustrates another view of the four limbed foot.

FIG. 5 illustrates a nested double coil foot design.

FIG. 6 illustrates a nested double coil foot design

FIG. 7 illustrates sulcated tubulous member.

FIG. 8 illustrates sulcated tubulous member.

FIG. 9 illustrates a nested double coil foot design

FIG. 10 illustrates a molding tool for the

FIG. 11 illustrates a single coil foot design

FIG. 12 illustrates a molding tool for the

FIG. 13 illustrates a single coil foot design

FIG. 14 illustrates sulcated tubulous member

FIG. 15 is a schematic illustrating a prior-art prosthetic footconstruction.

FIG. 16 illustrates a double lumen variant of the tubulous coil memberof FIG. 1.

FIG. 17 is a schematic illustrating the solid flat laminate typical of aprior-art prosthetic foot construction.

FIG. 18 is a schematic of tubulous composite member typical of thepresent invention.

FIG. 19 is a schematic illustrating a prior-art prosthetic footconstruction.

FIG. 20 is a schematic illustrating a prior-art prosthetic footconstruction.

FIG. 21 illustrates the method for projecting the longitudinalcenterline path of a tubulous member onto a plane for calculating theangular sweep.

FIG. 22 illustrates the method for measuring the angular sweep oflongitudinal centerline path of a tubulous member.

FIG. 23 illustrates the method for measuring the angular sweep oflongitudinal centerline path of a tubulous member.

FIG. 24 illustrates the method for measuring the angular sweep oflongitudinal centerline path of a tubulous member.

FIG. 25 shows schematics illustrating prior-art prosthetic footconstructions.

FIG. 26 shows schematics illustrating prior-art prosthetic footconstructions.

FIG. 27 shows schematics illustrating prior-art prosthetic footconstructions.

FIG. 28 shows schematics illustrating prior-art prosthetic footconstructions.

FIG. 29 shows schematics of commercial products illustrating prior-artprosthetic foot constructions.

FIG. 30 shows schematics of commercial products illustrating prior-artprosthetic foot constructions.

FIG. 31 shows schematics of commercial products illustrating prior-artprosthetic foot constructions.

DETAILED DESCRIPTION

An embodiment is a prosthetic foot comprising a mounting element and atubulous fiber composite member. The mounting element is securable to alower limb prosthetic structure. The tubulous fiber composite member isattached to the mounting element, and is in the form an elongated hollowshape or shapes that follow a not-straight path corresponding to alongitudinal centerline of the shape.

The path sweeps an angular change between two points located on thepath. The angular change is measured by projecting the path onto a planefixed in space with respect to the foot. Referring to FIG. 21, shown isan exemplary tubulous fiber composite member 2101, the path orlongitudinal center line 2102, and a projection plane 2104 upon whichthe path is projected. The incremental angle swept 2103 by the path 2102in this case between points A and B is 32 degrees. This is just theincremental angle swept over a portion of the path, not the total angleswept over the entire length of the particular tubulous member. The pathcan be projected upon any of the three primary planes defined by any twothe three primary axes shown in FIG. 1, i.e. the vertical, lateral, orfore-aft axes.

In addition, where there are two or more hollow shapes, or there isbranching from one to two or more paths, the angular change can bemeasured between any two points on the structure.

Reference is now made to FIG. 1. For the purposes of this description,the three principle axes of a prosthetic foot are referred to as thefore-aft axis running forward and backward through the middle of thefoot in a horizontal orientation; the lateral axis orientedside-to-side, 90 degrees to the fore-aft axis of the foot; the verticalaxis oriented vertically.

The fiber composite shape is formed by fiber plies with fibers in eachply oriented in a particular direction. For sustaining loads that aresubjected to the foot, there are plies oriented at +45 degrees, −45degrees, and 0 degrees with respect to the direction of the path orlongitudinal centerline. These degree values are nominal values, andactual orientations within plus or minus 20 degrees is acceptable formost shapes.

The tubulous fiber composite member can comprise one hollow shape ormore than one hollow shape, i.e., there can be one or more separatepaths. For example, composite member can comprise a shape or shapes overthe heel 305, 306, and separate shape or shapes 303, 304, directedtoward the toe of the foot (See FIGS. 3 and 4). One composite member 605may optionally branch into “toes” 602, 603 (See FIG. 6). In addition, amember with a path 701 can diverge from one to two or more members andpaths 702, 703, 704, and multiple paths can converge to fewer or onepath. (See FIGS. 7 and 8). For each hollow shape, the hollow may becontinuous or subdivided into multiple hollows. For example, in FIG. 16is shown a shape with an internal wall 1602 extending generally alongits path that subdivides the hollow into two hollow chambers 1603 and1604, or lumens.

The composite member can have any suitable cross-section, such as, forexample, circular, ovoid, polygonal, rectangular, and the cross-sectioncan vary along the longitudinal center line both in size and shape.Examples of composite members are shown in the figures. FIG. 5 part 501shows a composite member having a hollow shape configured as a helixwith an axis parallel the vertical axis. FIG. 2 part 103 shows acomposite member having a hollow shape configured as a tapered helixwith an axis parallel the vertical axis.

Reference is now made to FIGS. 10 and 12. The composite members arepreferably manufactured from materials containing long, commonlyreferred to as continuous, reinforcing fibers such as carbon, Kevlar, orfiberglass preimpregnated with curable resin, which are configuredaround an inflatable bladder or other device to form the core of theelement, within a mold. Most commonly a bladder is used to apply thenecessary laminate compaction pressure by being inflated and the mold isheated to a temperature sufficient to melt the resin and activate thecuring process. This forms the composite fibers into a tubulous shapewith a circular cross-section or other non-circular cross-sectionalshape. This tubulous configuration permits the composite material tohandle shear stresses very effectively. The result is a stiff tubularframe that is extraordinarily light. The diameter of the composite tube,the cross-sectional shape of the tube, the thickness and number oflayers of composite material utilized and the composition of thecomposite materials utilized may be altered to achieve optimumperformance characteristics.

Many variations are possible in the manufacturing process of hollowcomposite tubing. For example, disentegratable core material may be usedinside an inflatable bladder to rigidize the bladder, making it easierto place fiber materials on the bladder. The entire assembly, consistingof fiber overwrapping the bladder with an internal core may then beplaced inside the mold, the mold can then be closed and heated, and airor other gas is used to pressure the bladder internally, compacting andapplying pressure to the fiber resin composite structure. In addition,fiber material may also be placed directly on the tool mold cavitysurfaces. Some fiber material could be placed in the tool and somematerial placed on the bladder.

Pre-impregnated fiber material is generally used, which has uncuredepoxy resin already impregnated into the fiber. Dry fiber can also beused, such as woven or braided material. If dry materials are used,liquid epoxy resin can be injected during cure using an external pump ora transfer device inside the tool which forces a volume of resin to bemoved from a precharged reservoir in the tool into the part during cure.Inflation of the internal pressure bladder can be coordinated with theresin injection in this case.

A preferred construction of composite fiber tubing utilizesunidirectional fiber oriented along the wire sections, at 0°, consistingof roughly 25% to 75% of the total laminate thickness. Additional layersof fiber are oriented at ±45° and at 90° to the wire center line. Thefibers may also be oriented at other angles corresponding to theprinciple directions of stress within the structure. The use of ±45°fiber in the hollow tubing wall allows the springs to efficiently store,release and carry torsional and transverse shear loads. Prior artdynamic response prosthetic feet produced in autoclaves lack thisability and their geometries are significantly restricted.

The use of ±45° and optionally 90° fiber orientation in the compositefiber tubing walls sections also greatly strengthens the resistance todelamination type forces. In sum, the use of hollow composite tubularwalled wire sections containing ±45° and optionally 90° fiber in thecross section walls allows the spring to become a torsional spring insome or all areas rather than a pure flexural spring as in prior artdynamic response feet. The ability to carry torsional loads allows amore complex geometry, which in turn allows designs to be developed withlonger wire lengths. This allows greater compliance in the foot whilereducing or maintaining stresses at the previous level. This allowsgreater compliance while minimizing breakage and delamination problems.The use of hollow cross sections also removes inefficient material fromthe prosthetic foot, reducing the weight of the foot. If a wide flatcross section is desired, multiple hollow cavities extending the lengthof the section may be utilized in what is referred to as a multi-celledhollow structure.

It will also be understood that the hollow tubulous elements may befilled with various other materials as deemed necessary to enhance theperformance of the foot.

A helical structure of the spring allows the efficient storage oftorsional loads over a relatively long wire length. The cross section ofthe wire in the loops of the heel spring may also vary to alter thecompression profile of the spring.

Apart from changing composition of composite materials utilized, such asutilizing fiberglass for lower modulus and higher flexibility inportions of the composite frame, the fiber orientation may also bechanged to provide additional strength in certain directions. Forinstance, the fibers are preferably aligned at about a 45 degree angleto the axis of the tubing to manage the torsional load in the helicalspring portions of the frame. By utilizing helical spring elementsadditional effective length is added to the springs while providingrelatively lower profile for the dynamic responsiveness or energysharing capacity of the foot.

Refer now to FIGS. 1 and 2. It illustrates a double coil design inside acutaway view of a cosmesis. The three principle directions or axes ofthe foot geometry system are shown. Both coils have their primary axisoriented vertically. The aft coil is a tapered helix several coils long103, while the forward coil 102 is only one coil long and constanttaper. The primary axis of forward coil may alternatively be rotated 90degrees to be oriented in the lateral axis. The foot is typicallycovered with a cosmesis 101, normally a flexible rubber with a color tomatch the amputee's skin color. The cosmesis typically provides thestructural interface between the shoe and the internal foot structure.Sometimes additional foot plates are added to the bottom of the footstructure to interface structurally between the cosmesis and the footstructure. In this embodiment the forward coil and aft coils would bemade separately, and joined together somewhere along the side piece 201.The upper square piece is typically titanium and connects to astandardized pyramid adapter connection to the rest of the prosthesisconnected to the patient's residual limb. The upper connector piece 105is made of aluminum in this embodiment and the carbon fiber members arebonded into receptacles provided in it.

Refer now to FIGS. 3 and 4. It illustrates a foot design with fourseparate lightly curved tubulous limbs inside a cutaway view of acosmesis. This embodiment illustrates a foot design much simplergeometrically than the double coil design shown in FIGS. 1 and 2.However, the most of the advantages of the hollow tubulous member feetof the present invention are still obtained. Four receptacles 307, 401are provided in the upper connector piece 302 for connecting to the fourhollow tubes 303, 304, 305, 306. Sometime the hollow spaces in the tubemight be filled with epoxy or other material to enhance variouscharacteristics.

Refer now to FIGS. 5 and 11. They illustrate the use of straight helicaltubulous composite members 501, 502, 1101; and a separately formed baseplate 501, 1102. The base plates could be either a flat solid compositelaminate, or a hollow partially tubulous structure. Foot 510 in FIG. 5uses two coils 501, 502 which are nested inside each other. Foot 1110uses only one coil member 1101.

Refer now to FIGS. 9, 10 and 12. FIG. 9 illustrates a foot 903constructed with two separately molded tubulous members 901, 902. Theheel member 902 is a straight helical path, while the forward member 901is a helical path integrated with a toe section. FIG. 10 illustrates themolding tooling 1010 used for manufacturing the forward member 901. Theexternal molding tooling 1001 and 1002 contain and enclose all the moldcomponents and have surfaces which form about half of the externalsurface of forward member 901. There are several internal moldcomponents which fit inside the mold 1003, 1004, 1005, 1006, 1008 andform the other approximately half of the external surface of the forwardmember 901. There is also an internal core piece 1007 which facilitatesremoval of the internal mold components from the molded forward member901. Likewise, FIG. 12 illustrates the molding tooling 1210 used formanufacturing the heel member 902. The external molding tooling 1201 and1202 contain and enclose all the mold components and have surfaces whichform about half of the external surface of heel member 902. There areseveral internal mold components which fit inside the mold 1203, 1204,1205 1207 and form the other approximately half of the external surfaceof the heel member 902. There is also an internal core piece 1207 whichfacilitates removal of the internal mold components from the molded heelmember 902.

Refer now to FIG. 6. Foot 610 illustrates the use of tubulous compositemember 605 that bifurcates into two separate members 602 and 603 to formtoe pieces for the forward section. This foot 610 also uses a nestedcoil for the aft heel member 601.

Refer now to FIG. 14 which illustrates a tubulous composite member 1401which is very thin and wide and traces a fairly long sulcated path. Thismember illustrates the range of cross sections contemplated by thepresent invention. This single cavity inside this particular tubulousmember, a lumen, might be replaced with several lumens to aid sheartransfer from the upper to lower surfaces.

Refer now to FIGS. 21-24. These illustrate the various ways of measuringthe amount of curving in a particular tubulous composite member. Asnoted above in the description of FIGS. 1 and 2, the range of geometriesand complexity of the geometric shapes that individual tubulous memberscan have as described in the present invention can vary widely from themembers 102, 103, 201 of the complex geometry of foot 100 in FIGS. 1 and2; to the relatively simpler geometries of the members 303, 304, 305,306 of foot 300 in FIGS. 3 and 4. The wide and thin tubulous member ofFIG. 14 also illustrates this range of geometries. The amount of andtype of curves in these various members, which are all part of thepresent invention, can be described with several parameters. All thesemeasurements and descriptions pertain to the centerline along thelongitudinal lengthwise path of the tubulous member. These measurementsalso refer to values calculated from projections of the paths onto oneof the three primary planes. The three following angular measurementshave been used and are expressed in degrees arc:

-   -   The “Total Angle Swept by Path” 2202, 2301, 2401 illustrated. In        the case of FIG. 22, this is a sum of all the angular changes        2205, 2206, 2207, 2208 swept by the path and is always greater        than zero, or equal to zero only in the case of a straight tube.    -   The “Incremental Angle Swept over portion of path” 2205, 2206,        2207, 2208 is also shown in FIG. 22. Each of these separately is        a positive value.    -   The “Net Angle Swept over total path” for the member is the        angular misalignment of between the beginning of a member and        the end of a member as projected onto a principle plane.

Other generic descriptors of these geometric paths include:

-   -   The shape of the path may be “fully three dimensional” which        implies that it has significant curvatures in two separate        principle planes. A path shape with all curves constrained to        one principle plane would not be “fully three dimensional”.    -   Path shapes with “reverse curves” are those where the centerline        first curves in one direction and then at some later point        curves significantly in the opposition direction.

All publications, patents, and patent documents are incorporated byreference herein as though individually incorporated by reference.Numerous alterations of the structure herein disclosed will suggestthemselves to those skilled in the art. However, it is to be understoodthat the present disclosure relates to the preferred embodiment of theinvention which is for purposes of illustration only and not to beconstrued as a limitation of the invention. All such modifications whichdo not depart from the spirit of the invention are intended to beincluded within the scope of the appended claims.

What is claimed is:
 1. A prosthetic foot comprising: a mounting elementsecurable to a lower limb prosthesis with structure for securing to aresidual limb; a tubulous fiber composite member attached to themounting element, the tubulous fiber composite member in the form anelongated hollow shape configured to store and release energy, and thatfollows a not-straight path corresponding to a longitudinal centerlineof the shape the path sweeping an angular change between any two pointslocated on the path, the angular change measured by projecting the pathonto and plane fixed in space with respect to the foot, the compositemember having fibers plies oriented at 0 degrees and +45 degrees and −45degrees with respect to the path.
 2. The prosthetic foot of claim 1where the path sweeps a cumulative angular change of at least 160degrees between two points located on the path,
 3. The prosthetic footof claim 1 where the path sweeps a cumulative angular change of at least10 degrees and less then 100 degrees between two points located on thepath,
 4. The prosthetic foot of claim 1 wherein the primary axis is avertical axis, or a lateral axis, or a longitudinal axis.
 5. Theprosthetic foot of claim 1 wherein in the tubulous fiber compositemember comprises more than one elongated hollow shape.
 6. The prostheticfoot of claim 1 wherein the elongated hollow shape follows a path whereat least a portion thereof divides from a single path into two or morediverging paths.
 7. The prosthetic foot of claim 1 wherein the elongatedhollow shape follows a single undivided path.
 8. The prosthetic foot ofclaim 1 wherein the longitudinal centerline of the shape is branched, orunbranched.
 9. The prosthetic foot of claim 1 wherein the elongatedhollow shape has a variable cross-section along the longitudinalcenterline.
 10. The prosthetic foot of claim 1 wherein the longitudinalcenter line is in the form of a helix with an axis substantiallyparallel to the vertical or lateral axis.
 11. The prosthetic foot ofclaim 1 wherein the elongated hollow shape has more than one hollowcavity.
 12. A method for manufacture of a tubulous composite prostheticfoot member, the method comprising: compressing an uncured compositeagainst interior cavity surfaces of a closed female mold to form anuncured elongated hollow shape with an exterior surface, with at least90% of the external surface being formed directly against the cavitysurfaces, the cavity surfaces being on hard metal tooling of essentiallyfixed geometry, the mold interior surface configured to form the uncuredshape as an elongated hollow shape that follows a not-straight pathcorresponding to a longitudinal centerline of the shape, thenot-straight path sweeping an angular change between any two pointslocated on the path, the angular change measured by projecting the pathonto any plane fixed in space with respect to the foot; curing theuncured shape by heating the female mold to form a cured shape; removingthe cured shape from the mold and removing portions of the cured shapethat were not formed directly against the cavity surfaces to form thetubulous composite prosthetic foot member.